KR101694848B1 - Gait rehabilitation robot to assist rehabilitation of patient - Google Patents

Gait rehabilitation robot to assist rehabilitation of patient Download PDF

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Publication number
KR101694848B1
KR101694848B1 KR1020150086652A KR20150086652A KR101694848B1 KR 101694848 B1 KR101694848 B1 KR 101694848B1 KR 1020150086652 A KR1020150086652 A KR 1020150086652A KR 20150086652 A KR20150086652 A KR 20150086652A KR 101694848 B1 KR101694848 B1 KR 101694848B1
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KR
South Korea
Prior art keywords
patient
coupled
linear motion
arm
robot
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KR1020150086652A
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Korean (ko)
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KR20150079523A (en
Inventor
이수종
김정용
안승욱
Original Assignee
주식회사 티이에스
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Priority to KR1020150086652A priority Critical patent/KR101694848B1/en
Publication of KR20150079523A publication Critical patent/KR20150079523A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for disabled persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot

Abstract

The present invention relates to a walking rehabilitation robot for assisting a patient in rehabilitation. According to one aspect of the present invention, there is provided a method of controlling a patient, comprising: a fixation band for supporting the body of the patient; a pelvic joint shaft rotatably provided with respect to the fixation band; a first arm coupled to the pelvic joint axis on one side; A first connecting joint shaft rotatably installed on the other side of the arm, a second arm one side of which is coupled to the first connecting joint shaft, a second connecting joint shaft rotatably installed on the other side of the second arm, And a linear motion guide directly or indirectly coupled to the fixed band, wherein the linear motion guide is coupled to the second connection joint axis, Robot body; And a walker including an upper frame, a lower frame having a plurality of wheels, and a connection frame connecting the upper frame and the lower frame, wherein the robot body and the walker are coupled through a coupling module And a walking rehabilitation robot is provided.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a walking rehabilitation robot,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rehabilitation robot for assisting a rehabilitation of a patient, and more particularly, to a rehabilitation robot including a robot body worn by a patient and a walker supporting a patient's walking, The present invention relates to a gait rehabilitation robot that allows a patient to move stably while a patient is walking while supporting a linear motion guide to allow a patient to naturally move and walk.

Recently, the number of patients who are hard to move the legs due to the increase of cerebral diseases such as stroke, aging, and spinal cord injuries is increasing. Therefore, a lot of research is being conducted on the gait rehabilitation robot which can help patients' rehabilitation treatment.

Korean Patent Registration No. 1325066 discloses a walking rehabilitation robot which is composed of a robot body and a walker, and can be worn regardless of the body shape of the patient. 6, the robot body 110 is worn on a lower body of a patient, and between the robot body 110 and the walker 120, A wire or a flexible cable is installed as a safety means 125 for preventing detachment of the cable. In addition, the pelvic joint axis 112 and the second joint axis 116 in the joint of the robot body are composed of driving joints, and the first joint axis 114 and the ankle joint axis are made of passive joints, The robot drives the pelvic joint axis 112 and the second joint axis 116 to assist the patient to walk.

However, in the rehabilitation robot of Korean Patent Registration No. 1325066, the patient has to walk while holding the walker in order to support the body. The robot body worn by the patient and the walker supporting the body are connected by a cable There is a problem that the patient who takes the walker with the wheel and is walking should have to support the body with his / her own strength and can not receive solid support from the walker at the time of walking.

Therefore, the present inventor intends to propose a gait rehabilitation robot which can support a patient while naturally supporting the patient while walking.

It is an object of the present invention to solve all the problems described above.

Another object of the present invention is to allow a patient to naturally walk by allowing the robot body to move up and down in response to the patient's walking while being firmly supported by the walker during the patient's walking.

Another object of the present invention is to help a patient stand up comfortably by making a joint shaft corresponding to a knee a drive shaft when a patient walks after wearing the robot body.

It is another object of the present invention to provide a gait rehabilitation robot having a structure in which a patient can sit at a predetermined position.

In order to accomplish the above object, a representative structure of the present invention is as follows.

According to one aspect of the present invention, there is provided a walking rehabilitation robot for assisting a rehabilitation treatment of a patient, comprising: a fixed band for supporting the body of the patient; a pelvic joint shaft rotatably provided to the fixed band; A first arm connected to one end of the first arm and a second arm connected to the first arm, a first arm connected to the first arm, a first arm connected to the first arm, A second connecting joint shaft rotatably attached to the ankle joint shaft, an extension piece having one side connected to the second connecting joint shaft and an ankle joint shaft installed on the other side, a footrest rotatably installed on the ankle joint shaft, A robot body including a linear motion guide indirectly coupled to the robot body; And a walker including an upper frame, a lower frame having a plurality of wheels, and a connection frame connecting the upper frame and the lower frame, wherein the robot body and the walker are coupled through a coupling module Is provided.

According to the present invention, the body of a patient is firmly supported by a walker during a walk, and the robot body can move up and down in response to a patient's walking, thereby enabling a natural walking of a patient.

In addition, according to the present invention, when the patient walks after wearing the robot body in a sitting state, the joint shaft corresponding to the knee is driven to support the patient to stand up without a sense of discomfort.

Further, according to the present invention, it is possible to provide a gait rehabilitation robot having a structure in which a patient can easily sit at a predetermined position.

1 is a perspective view of a walking rehabilitation robot according to an embodiment of the present invention.
FIG. 2 is an enlarged view of the linear motion guide and the connection block in FIG. 1. FIG.
3 is an exploded perspective view of a coupling module according to an embodiment of the present invention.
4 is a view illustrating a patient wearing a robot body according to an embodiment of the present invention.
FIG. 5 is a view for explaining the walking of a patient wearing a robot body according to an embodiment of the present invention.
6 is a perspective view of a walking rehabilitation robot according to the prior art.

The following detailed description of the invention refers to the accompanying drawings, which illustrate, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that the various embodiments of the present invention are different, but need not be mutually exclusive. For example, certain features, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the invention in connection with an embodiment. It is also to be understood that the position or arrangement of the individual components within each disclosed embodiment may be varied without departing from the spirit and scope of the invention. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is to be limited only by the appended claims, along with the full scope of equivalents to which such claims are entitled, if properly explained. In the drawings, like reference numerals refer to the same or similar functions throughout the several views, and length and area, thickness, and the like may be exaggerated for convenience.

Hereinafter, a rehabilitation robot 100 according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view of a rehabilitation robot 100 according to an embodiment of the present invention.

Referring to FIG. 1, the rehabilitation robot 100 according to an embodiment of the present invention may include a robot body 110 and a walker 120. The robot body 110 and the walker 120 may be connected to a coupling module 130, respectively.

The robot body 110 according to an embodiment of the present invention includes a fixed band 111 for supporting a patient's body, a pelvic joint shaft 112 rotatably installed on the fixed band 111, A first arm 113 coupled to the joint shaft 112; a first joint shaft 114 rotatably installed on the other side of the first arm 113; A second connecting arm shaft 116 rotatably installed on the other side of the second arm 115 and a second connecting arm shaft 116 connected to the second connecting joint shaft 116 at one side and an ankle joint shaft 116 And a linear motion guide 118 that is directly or indirectly coupled to the fixing band 111. The linear motion guide 118 may include a linear motion guide 118 that is attached to the ankle joint shaft 117a, have.

Specifically, the patient can wear the robot body 110 on the lower body by wearing the fixing band 111 on the waist and placing the feet on the footrest 117. [ In addition, a band for fixing any one of the calf, foot, and ankle of the patient may be added to the robot body 110, so that the lower body of the patient can be fixed to the robot body 110. At this time, since the angle formed by the first arm 113 and the second arm 115 is adjusted according to the elongation of the patient wearing the robot body 110, the patient wears the robot body 110 regardless of the height It will be possible.

The robot body 110 may further include a pedestal 119 capable of supporting the back of the patient. The pedestal 119 may be located on the rear side of the fixing band 111 and may include a spacing bar capable of adjusting the length of the pedestal 119.

Meanwhile, the pelvic joint axis 112, the first joint axis 114, the second joint axis 116, and the ankle joint axis 117a may correspond to the robot joints. A motor may be installed on at least one axis of the pelvis joint axis 112, the first connection joint axis 114, the second connection joint axis 116 and the ankle joint axis 117a in order to bend the robot joint, The axis on which it is installed may be called the active joint.

 The rehabilitation robot 100 may assist the patient to walk by assisting the knee bending and knee extension actions of the patient's knee joint by driving a motor provided in the robot joint. In an embodiment of the present invention, a motor provided on the pelvis joint axis 112 and the first joint axis 114 is driven to support the patient's walking, or the pelvis joint axis 112 and the second joint axis 116 To support the walking of the patient, which will be described in detail with reference to FIG.

2), and the connecting block 140 includes a connecting plate 141 and a connecting plate 141 that are indirectly or directly coupled to the linear motion guide 118 And a handle 142 coupled to the connection plate 141. However, the connection block 140 is not necessarily described as being included in the robot body 110, and may be described in a configuration separate from the robot body 110. [ However, in any case, since the configuration of the connection block 140 is the same, a discussion thereof will be omitted.

Here, the grip portion 142 can be held by the patient while walking, and the connection plate 141 can be rotatably coupled with the coupling module 130 through the grip portion 142. The linear motion guide 118 and the connection block 140 will be further described with reference to FIGS. 2 and 3. FIG.

The walker 120 according to an embodiment of the present invention includes an upper frame 121, a lower frame 122 on which a plurality of wheels 123 are installed, an upper frame 121 and a lower frame 122, And a connecting frame 124 connecting the connecting frame 124 and the connecting frame 124 to each other. The joining module 130 may be installed on the upper frame 121 so that the walker 120 can be coupled to the robot body 110 through the joining module 130.

The walking rehabilitation robot 100 according to an embodiment of the present invention may include a control module (not shown) for controlling the walking operation of the robot body 110, a muscle signal measuring unit 110 for measuring a patient's EMG signal, A module (not shown), and a functional electric stimulation (FES) module (not shown) that stimulates the muscular nerve of the patient by electric stimulation to assist rehabilitation, May further include other components or modules.

FIG. 2 is an enlarged view of the linear motion guide 118 and the connection block 140 in FIG.

Referring to FIG. 2, the linear motion guide 118 according to an embodiment of the present invention may include a linear motion block 118b and a rail 118a.

The linear motion block 118b can move upward and downward along the rail 118a, more precisely, the linear motion block 118b moves up and down the rail 118a while still standing still. 5), the rail 118a attached to the side surface of the fixing band 111 can be used for a patient's walking motion, So that it can be reflected in the swinging motion of the fixing band 111 worn by the user. If there is no such structure, there is an advantage that the walking of the patient is firmly supported by the coupling module 130, but the walking of the bar which is firmly coupled so that the walking can not be performed is unnatural . Thus, through the above-described structure, it is possible to naturally walk through the linear motion guide 118 while firmly supporting the patient's walking through the coupling module 130.

At least one connecting plate 141 of the connecting block 140 is indirectly or directly coupled to the linear motion block 118b so that the relative position of the linear motion block 118b and the connecting plate 141 Can be fixed.

3 is an exploded perspective view of a coupling module 130 according to an embodiment of the present invention.

The coupling module 130 according to one embodiment of the present invention includes a connection bar 132 and a rotation guide part 131 located at one side of the connection bar 132 and supporting the knob part 142 to rotate, A receiver 133 positioned at the other side of the connection bar 132 for receiving and fixing the other side of the connection bar 132 and a bracket 134 for fixing the receiver 133 to the upper frame 121 . Here, the rotation guide part 131 may have a hook shape, and the connection bar 132 and the rotation guide part 131 may be coupled to each other.

3, the coupling relationship between the coupling module 130 and the coupling block 140 and the coupling relationship between the coupling module 130 and the upper frame 121 will be described. The coupling module 130 and the connection block 140 can be coupled by inserting the coupling module 130 and the upper frame 121 by fixing the receiver 133 to the upper frame 121 with the bracket 134. [ 121 may be combined. The connection bar 132 may be coupled to one end of the rotation guide part 131 coupled to the connection block 140 and the connection bar 132 may be fixedly inserted into the receiver 133, The frame 121 can be engaged.

The connection bar 132 is inserted and fixed to the receiver 133 fixed to the upper frame 121 so that the coupling module 140 It is to be understood that the present invention is not limited thereto and that the joining module 130 of the present invention can be used regardless of the order of joining of the joining module 130. [ And the robot body 110 and the walker 120 are combined with each other.

The grip portion 142 of the robot body 110 may be rotatably coupled to the rotation guide portion 131 of the coupling module 130 so that the robot body 110 is rotated about the grip portion 142 It will be able to rotate within a predetermined angle. For example, when a change occurs in the angle of the robot body 110 (the angle at which the robot body tilts with respect to the ground) in response to the patient's motion when the patient is walking, the robot body 110 is moved 142 to rotate about its axis so that the angle can be changed. Through this, the patient will be able to move naturally and walk.

4 is a view illustrating a patient wearing a robot body 110 according to an embodiment of the present invention.

4, the patient can wear the robot body 110 by placing his / her foot on the foot plate 117 and wearing a fixing band 111. At this time, The angle [theta] between the first arm 113 and the second arm 115 can be changed.

The robot body 110 controls so that the angle between the first arm 113 and the second arm 115 does not become larger than the angle? When the patient stands up, thereby preventing the patient's foot from being attracted to the ground during the walking You can do it. When the angle between the first arm 113 and the second arm 115 is controlled, the robot body 110 may be controlled so that it does not become larger than the angle? 'Obtained by adding a predetermined angle to? .

Each of the pelvic joint axis 112, the first connecting joint axis 114, the second connecting joint axis 116 and the ankle joint axis 117a corresponds to the pelvis, knee, calf (shin) and ankle of the patient A motor may be installed on the pelvis joint axis 112 and the first connection joint axis 114 or a motor may be installed on the pelvis joint axis 112 and the second connection joint axis 116 will be.

When the motor is installed on the pelvis joint axis 112 and the first joint axis 114, the pelvis joint axis 112 and the first joint axis 114 can be used as drive joints, The ankle joint shaft 116 and the ankle joint shaft 117a may be used as passive joints. For example, when the patient wearing the robot body 110 is walking and the patient is sensed to bend the knee, the angle between the first arm 113 and the second arm 115 may be reduced, A motor provided on the pelvis joint axis 112 and the first joint axis 114 is driven so as to increase the angle between the first arm 113 and the second arm 115 And the second joint axis 116 and the ankle joint axis 117a will be able to rotate naturally according to the operation of the patient.

As another example, when a motor is installed on the pelvis joint axis 112 and the second joint axis 116, the pelvis joint axis 112 and the second joint axis 116 may be used as driving joints, 1 joint joint axis 114 and ankle joint axis 117a may be used as passive joints to assist the patient in walking.

The use of the pelvic joint axis 112 and the first joint axis 114 as the driving joints when the patient stands up after wearing the robot body 110 when the patient is seated, It is possible to give the patient a sense of stability rather than using the joint joint shaft 116 as the drive joint. Since it is common for a person sitting there to use the knee joint, the patient can stably stand by assisting the patient to stand up by driving the first joint axis 114 corresponding to the knee of the patient.

5 is a view for explaining the walking of a patient wearing a robot body 110 according to an embodiment of the present invention. 5 is a view for showing the operation of the robot body 110 according to the walking of the patient, the walker 120 is not shown.

Referring to FIG. 5, it can be seen that the pelvic joint axis 112 naturally moves up and down when the patient is walking. At this time, the angle of the robot body 110 (the angle between the first arm and the second arm) can be changed corresponding to the patient's walking, and the pelvis joint axis 112, the first connection joint axis 114, The second coupling joint shaft 116 and the ankle joint shaft 117a can be rotated and moved up and down by the linear motion guide 118. [

The above-described embodiments of the present invention have been described in detail with reference to the accompanying drawings, in which detailed contour lines are omitted. It should be noted that the above-described embodiments are not intended to limit the technical spirit of the present invention, but merely as a reference for understanding the technical idea included in the claims of the present invention.

100: Rehabilitation robot
110: robot body
111: Fixed band
112: Pelvic joint axis
113: first arm
114: first connection joint axis
115: second arm
116: second connection joint axis
116a: Extension piece
117: Scaffolding
117a: Ankle joint axis
118: Linear Motion Guide
118a: rail
118b: linear motion block
119: Stand
120: walker
121: upper frame
122: Lower frame
123: Wheels
124: connection frame
130: Coupling module
131:
132: Connection bar
133: receptor
134: Bracket
140: connection block
141: connection plate
142:

Claims (9)

As a walking rehabilitation robot for a patient to rehabilitate,
A pelvic joint shaft rotatably provided with respect to the fixed band, a first arm coupled to the pelvic joint axis on one side,
A second arm coupled to the first joint shaft and a second joint shaft rotatably installed on the other side of the second arm, the first joint shaft rotatably installed on the other side of the first arm, And a linear motion guide which is directly or indirectly coupled to the fixed band, and a linear motion guide which is directly or indirectly coupled to the fixed band, wherein the pivot joint axis and the first joint joint axis are active joints, and the second joint joint axis and the ankle joint axis are passive joints; And
And a walk frame including an upper frame, a lower frame having a plurality of wheels, and a connection frame connecting the upper frame and the lower frame,
Wherein the robot body and the walker are coupled through a coupling module. The method according to claim 1,
The robot body further includes a connection block,
Wherein the connecting block comprises: (i) a connecting plate directly or indirectly coupled to the linear motion guide; and (ii) a handle coupled to the connecting plate and rotatably coupled to the coupling module. robot. 3. The method of claim 2,
The coupling module comprises:
Connection bar,
A rotation guide portion located at one side of the connection bar and supporting the knob portion to rotate,
A receiver which is located on the other side of the connection bar and receives and fixes the other side of the connection bar,
And a bracket for fixing the receiver to the upper frame. The method of claim 3,
Wherein the robot body is rotatable about the handle portion in accordance with movement of the patient in accordance with the walking. 3. The method of claim 2,
Wherein the linear motion guide includes a linear motion block and a rail,
Wherein the linking plate is indirectly or directly coupled to the linear motion block so that a relative position of the linear motion block and the linking plate is fixed. 6. The method of claim 5,
Wherein the rail supports the fixed band so as to be movable up and down with respect to the linear motion block when the patient is walking. delete delete The method according to claim 1,
Wherein the robot body further includes a pedestal for supporting the waist of the patient.
KR1020150086652A 2015-06-18 2015-06-18 Gait rehabilitation robot to assist rehabilitation of patient KR101694848B1 (en)

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KR101694848B1 true KR101694848B1 (en) 2017-01-13

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Families Citing this family (5)

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Publication number Priority date Publication date Assignee Title
CN107174490B (en) * 2017-06-02 2019-01-29 浙江大学 A kind of movable type device for healing and training
EP3524217B1 (en) * 2018-02-13 2021-11-17 LG Electronics Inc. Adaptive assistive and/or rehabilitative device and system
CN110882133B (en) * 2018-09-07 2022-06-17 北京大艾机器人科技有限公司 Balance assisting device and method for exoskeleton robot
CN110916987B (en) * 2019-11-29 2021-04-16 山东大学 Lower limb rehabilitation training robot capable of moving autonomously
KR102547426B1 (en) * 2020-12-07 2023-06-23 한서대학교 산학협력단 System for controlling ankle muscle training apparatus

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008237818A (en) * 2007-03-29 2008-10-09 Kumagai Gumi Co Ltd Walking support apparatus
KR101325066B1 (en) * 2012-10-22 2013-11-05 한국생산기술연구원 Gait rehabilitation robot for the stroke

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008237818A (en) * 2007-03-29 2008-10-09 Kumagai Gumi Co Ltd Walking support apparatus
KR101325066B1 (en) * 2012-10-22 2013-11-05 한국생산기술연구원 Gait rehabilitation robot for the stroke

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